290 citations · 681 across the 38 of their papers we have counts for
6 papers · 1 filter
HapticGiant: A Novel Very Large Kinesthetic Haptic Interface with Hierarchical Force Control
Michael Fennel, Markus Walker, Dominik Pikos +1
Research in virtual reality and haptic technologies has consistently aimed to enhance immersion. While advanced head-mounted displays are now commercially available, kinesthetic ha…
Continuous-Time Ultra-Wideband-Inertial Fusion
Kailai Li, Ziyu Cao, Uwe D. Hanebeck
We introduce a novel framework of continuous-time ultra-wideband-inertial sensor fusion for online motion estimation. Quaternion-based cubic cumulative B-splines are exploited for…
Three-dimensional Simultaneous Shape and Pose Estimation for Extended Objects Using Spherical Harmonics
Gerhard Kurz, Florian Faion, Florian Pfaff +2
We propose a new recursive method for simultaneous estimation of both the pose and the shape of a three-dimensional extended object. The key idea of the presented method is to repr…
Towards High-Performance Solid-State-LiDAR-Inertial Odometry and Mapping
Kailai Li, Meng Li, Uwe D. Hanebeck
We present a novel tightly-coupled LiDAR-inertial odometry and mapping scheme for both solid-state and mechanical LiDARs. As frontend, a feature-based lightweight LiDAR odometry pr…
iviz: A ROS Visualization App for Mobile Devices
Antonio Zea, Uwe D. Hanebeck
In this work, we introduce iviz, a mobile application for visualizing ROS data. In the last few years, the popularity of ROS has grown enormously, making it the standard platform f…
Improved Pose Graph Optimization for Planar Motions Using Riemannian Geometry on the Manifold of Dual Quaternions
Kailai Li, Johannes Cox, Benjamin Noack +1
We present a novel Riemannian approach for planar pose graph optimization problems. By formulating the cost function based on the Riemannian metric on the manifold of dual quaterni…